CN109713976A - Ten two-phase permanent magnet synchronous motor zero-velocity sensor control method and device - Google Patents
Ten two-phase permanent magnet synchronous motor zero-velocity sensor control method and device Download PDFInfo
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Abstract
The invention discloses a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensor control method and device, wherein, method gets d-q plane current in return the following steps are included: the electric current of ten two-phase permanent magnet synchronous motors of acquisition is carried out space vector decoupling change, and the reference model of model reference adaptive method is constructed according to d-q plane current；Mathematical model of the ten two-phase permanent magnet synchronous motors of building under preset coordinate system is subjected to space vector decoupling change and gets the d-q plane current differential equation in return, and constructs the adjustable model of model reference adaptive method according to the d-q plane current differential equation；Speed estimate result of the ten two-phase permanent magnet synchronous motors in high revolving speed is obtained according to reference model, adjustable model and superstability and positivity dynamic systems theory.The high speed estimate to ten two-phase permanent magnet synchronous motors may be implemented in this method, effectively improves reliability and accuracy to high speed estimate, simple easily to realize.
Description
Technical field
The present invention relates to motor control technology field, in particular to a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensors
Control method and device.
Background technique
The fault-tolerant ability that polyphase machine can reduce torque pulsation, improve motor, and since the number of phases increases, there is Gao Gong
Rate service ability has biggish answer to electric efficiency, revolving speed and the higher occasion of power requirement in flywheel energy storage, electric car etc.
Use potentiality.Increasing revolving speed is the common method for improving multi-phase motor system performance, but with the raising of revolving speed, system is used
The reliability and accuracy of velocity sensor can reduce, it is therefore necessary to design a kind of method for estimating rotating speed of polyphase machine.
Currently, be generally basede on motor mathematical model for high-revolving estimation method, using open loop or closed loop algorithm, two
Person compares, the closed loop algorithm not influence vulnerable to external interference and Parameters variation, has higher accuracy and reliability.It is closing
In ring algorithm, MRAS (Model Reference Adaptive System, model reference adaptive system) is more commonly used
Method, design are based on stable theory, it is ensured that the asymptotic Convergence Property of system, and also algorithm comparison is simple, and it is convenient in number
It is realized in control system.
Summary of the invention
The application is to be made based on inventor to the understanding of following problems and discovery:
Speed estimate when high revolving speed is operated in present invention is generally directed to ten two-phase permanent magnet synchronous motors.In the related technology,
Double three-phase machine is concentrated mainly on for the method for estimating rotating speed of multiphase permanent magnet synchronous motor, for example, Description of Related Art one
MRAS is used for the scheme that double three-phase machine realizes high speed estimate by kind.And for ten two-phase permanent magnet synchronous motors there is presently no
The research of method for estimating rotating speed based on MRAS under relevant high revolving speed.
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensor controlling parties
Method, this method may be implemented to effectively improve to the reliable of high speed estimate the high speed estimate of ten two-phase permanent magnet synchronous motors
Property and accuracy, it is simple easily to realize.
It is another object of the present invention to propose a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes ten two-phase permanent magnet synchronous motors of one kind and passes without speed
Sensor control method, comprising the following steps: the electric current of ten two-phase permanent magnet synchronous motors of acquisition is subjected to VSD (Vector
Space Decomposition, space vector decoupling) transformation obtains d-q plane current, and according to the d-q plane current structure
The reference model of established model reference adaptive method；By the ten two-phase permanent magnets synchronous motor of building under preset coordinate system
Mathematical model carries out VSD and converts to obtain the d-q plane current differential equation, and is constructed according to the d-q plane current differential equation
The adjustable model of model reference adaptive method；It is dynamic according to the reference model, the adjustable model and superstability and positivity
State Systems Theory obtains speed estimate result of the ten two-phase permanent magnets synchronous motor in high revolving speed.
Ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods of the embodiment of the present invention, by constructing model respectively
The reference model and adjustable model of reference adaptive method, and motor is determined according to superstability and positivity dynamic systems theory
Speed estimate effectively improves as a result, to realize to the high speed estimate of ten two-phase permanent magnet synchronous motors to high speed estimate
Reliability and accuracy are simple easily to realize.
In addition, ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to the above embodiment of the present invention may be used also
With following additional technical characteristic:
Further, in one embodiment of the invention, the transformation matrix T of the VSD transformationVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Wherein, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10,
K=1,5,7,11, i=1,2,3,4,
Further, in one embodiment of the invention, described that the ten two-phase permanent magnets synchronous motor of building exists
Mathematical model under preset coordinate system carries out VSD and converts to obtain the d-q plane current differential equation, and according to the d-q plane electricity
The adjustable model for flowing differential equation building model reference adaptive method further comprises: building ten two-phase permanent magnet is synchronous
Mathematical model of the motor under preset coordinate system, wherein the preset coordinate system is natural system of coordinates；To the mathematical model into
Row VSD converts to obtain the flux linkage equations and voltage equation of the ten two-phase permanent magnets synchronous motor；By the flux linkage equations and voltage
Equation is integrated, and d-q plane voltage equation relevant to revolving speed is carried out equivalent transformation, and it is micro- to obtain the electric current comprising revolving speed
Divide equation；The adjustable model of model reference adaptive method is constructed according to the current differential equation.
Further, in one embodiment of the invention, wherein described to carry out the flux linkage equations and voltage equation
Integration obtains:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the electricity of d-q, x1-y1, x2-y2, x3-y3 plane after converting
Pressure, Ld、LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate change
Change the electric current of rear d-q, x1-y1, x2-y2, x3-y3 plane, RsIndicate each phase winding resistance, ωeIndicate the electrical angle speed of rotor
Degree, ΨfIndicate the amplitude for the magnetic linkage that permanent magnet flux linkage generates in every phase winding；
The current differential equation are as follows:
The adjustable model are as follows:
In formula, adding the variable of " ^ " indicates estimated value,
Further, in one embodiment of the invention, further includes: the speed estimate result is integrated to obtain rotor
Position angle, wherein the speed estimate result are as follows:
In formula, Kp, Ki respectively indicate in PI (Proportional-Integral, proportional integration) operation proportionality coefficient and
Integral coefficient.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes ten two-phase permanent magnet synchronous motors of one kind without speed
Sensor control, comprising: reference model constructs module, and the electric current of the ten two-phase permanent magnet synchronous motors for that will acquire carries out
VSD converts to obtain d-q plane current, and the reference model of model reference adaptive method is constructed according to the d-q plane current；
Adjustable model constructs module, mathematical model of the ten two-phase permanent magnets synchronous motor under preset coordinate system for that will construct into
Row VSD converts to obtain the d-q plane current differential equation, and constructs model reference certainly according to the d-q plane current differential equation
The adjustable model of adaptive method；Estimation module, for according to the reference model, the adjustable model and superstability and positivity
Dynamic systems theory obtains speed estimate result of the ten two-phase permanent magnets synchronous motor in high revolving speed.
Ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices of the embodiment of the present invention, by constructing model respectively
The reference model and adjustable model of reference adaptive method, and motor is determined according to superstability and positivity dynamic systems theory
Speed estimate effectively improves as a result, to realize to the high speed estimate of ten two-phase permanent magnet synchronous motors to high speed estimate
Reliability and accuracy are simple easily to realize.
In addition, ten two-phase permanent magnets synchronous motor zero-velocity sensor control device according to the above embodiment of the present invention may be used also
With following additional technical characteristic:
Further, in one embodiment of the invention, the transformation matrix T of the VSD transformationVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Wherein, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10,
K=1,5,7,11, i=1,2,3,4,
Further, in one embodiment of the invention, the adjustable model building module is further used for constructing institute
Stating mathematical model of the ten two-phase permanent magnet synchronous motors under preset coordinate system, wherein the preset coordinate system is natural system of coordinates,
It carries out VSD to the mathematical model to convert to obtain the flux linkage equations and voltage equation of the ten two-phase permanent magnets synchronous motor, by institute
It states flux linkage equations to be integrated with voltage equation, and d-q plane voltage equation relevant to revolving speed is subjected to equivalent transformation, obtain
Current differential equation comprising revolving speed constructs the adjustable model of model reference adaptive method according to the current differential equation.
Further, in one embodiment of the invention, wherein described to carry out the flux linkage equations and voltage equation
Integration obtains:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the electricity of d-q, x1-y1, x2-y2, x3-y3 plane after converting
Pressure, Ld、LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate change
Change the electric current of rear d-q, x1-y1, x2-y2, x3-y3 plane, RsIndicate each phase winding resistance, ωeIndicate the electrical angle speed of rotor
Degree, ΨfIndicate the amplitude for the magnetic linkage that permanent magnet flux linkage generates in every phase winding；
The current differential equation are as follows:
The adjustable model are as follows:
In formula, adding the variable of " ^ " indicates estimated value,
Further, in one embodiment of the invention, further includes: integration module, for the speed estimate knot
Fruit integrates to obtain rotor position angle, wherein the speed estimate result are as follows:
In formula, Kp, Ki respectively indicate proportionality coefficient and integral coefficient in PI operation.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the overall circuit topological diagram according to one embodiment of the invention；
Fig. 2 is the stator winding connection type figure according to ten two-phase permanent magnet synchronous motors of one embodiment of the invention；
Fig. 3 is the stream according to ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods of one embodiment of the invention
Cheng Tu；
Fig. 4 is the ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods according to a specific embodiment of the invention
Flow chart；
Fig. 5 is the realization principle according to the model reference adaptive Speedless sensor method of one embodiment of the invention
Figure；
Fig. 6 is the knot according to ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices of one embodiment of the invention
Structure schematic diagram.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Before introducing ten two-phase permanent magnet synchronous motor zero-velocity sensor control method and device, first simply introduce
Flywheel energy storage system, ten two-phase permanent magnets synchronize electricity when the method and device of the embodiment of the present invention has been used for flywheel energy storage system operation
The high speed estimate of machine.The composed structure of the system includes: flywheel, ten two-phase permanent magnet synchronous motors and four set of two level unsteady flow
Device.Ten two-phase windings of motor are divided into four groups, are respectively driven by four set of two level current transformer.
Specifically, as shown in Figure 1, flywheel energy storage system is mainly made of six parts: flywheel (1), ten two-phase permanent magnets are same
Walk motor (2), the first current transformer (3), the second current transformer (4), third current transformer (5), the 4th current transformer (6).First to fourth
Current transformer (3) (4) (5) (6) is three-phase two level topology, current transformer ac output end respectively with ten two-phase permanent magnet synchronous motors
The exit of (2) four sets of stator winding is connected, and is more specifically exactly the ac output end A of the first current transformer (3)1、B1、C1Point
Not with the stator winding a of ten two-phase permanent magnet synchronous motors (2)1、b1、c1It is connected；The ac output end A of second current transformer (4)2、B2、
C2Respectively with the stator winding a of ten two-phase permanent magnet synchronous motors (2)2、b2、c2It is connected；The ac output end of third current transformer (5)
A3、B3、C3Respectively with the stator winding a of ten two-phase permanent magnet synchronous motors (2)3、b3、c3It is connected；The exchange of 4th current transformer (6) is defeated
Outlet A4、B4、C4Respectively with the stator winding a of ten two-phase permanent magnet synchronous motors (2)4、b4、c4It is connected.
As shown in Fig. 2, illustrating the stator winding connection type figure of ten two-phase permanent magnet synchronous motors, stator is by four sets of three-phases
Winding is constituted, and 15 ° is differed between the correspondence phase of four sets of windings, and neutral point is mutually isolated, motor stator winding a1Mutually with it is synchronous
Angle between rotating coordinate system d axis is motor rotor position angle θm。
The ten two-phase permanent magnet synchronous motor zero-velocity sensors proposed according to embodiments of the present invention are described with reference to the accompanying drawings
Control method and device, the ten two-phase permanent magnet synchronous motors for describing to propose according to embodiments of the present invention first with reference to the accompanying drawings are without speed
Spend sensor control method.
Fig. 3 is the process of ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods of one embodiment of the invention
Figure.
As shown in figure 3, the ten two-phase permanent magnets synchronous motor zero-velocity sensor control method the following steps are included:
In step S301, the electric current of ten two-phase permanent magnet synchronous motors of acquisition is subjected to VSD and converts to obtain d-q plane electricity
Stream, and according to the reference model of d-q plane current building model reference adaptive method.
It is understood that as shown in figure 4, the embodiment of the present invention uses revolving speed of the MRAS method to motor operation when to carry out
Estimation.The d-q plane current that ten two-phase currents of acquisition are obtained after VSD is converted is as reference model.
Specifically, as shown in figure 5, firstly, the reference model of building MRAS method, acquires the electric current of ten two-phase electric machines
Value carries out VSD transformation, VSD transformation matrix TVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Matrix TdqIn, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10, matrix TαβIn,
K=1,5,7,11, i=1,2,3,4,
Transformed d-q plane current makes reference model.
In step s 302, the mathematical model by ten two-phase permanent magnet synchronous motors of building under preset coordinate system carries out
VSD converts to obtain the d-q plane current differential equation, and constructs model reference adaptive side according to the d-q plane current differential equation
The adjustable model of method.
It is understood that as shown in figure 4, the embodiment of the present invention is by the motor d-q plane current comprising speed estimate value
The differential equation is as adjustable model.
Further, in one embodiment of the invention, by ten two-phase permanent magnet synchronous motors of building in preset coordinate
Mathematical model under system carries out VSD and converts to obtain the d-q plane current differential equation, and according to d-q plane current differential equation structure
The adjustable model of established model reference adaptive method further comprises: ten two-phase permanent magnet synchronous motors of building are in preset coordinate system
Under mathematical model, wherein preset coordinate system be natural system of coordinates；VSD is carried out to mathematical model to convert to obtain ten two-phase permanent magnets
The flux linkage equations and voltage equation of synchronous motor；Flux linkage equations and voltage equation are integrated, and will d-q relevant to revolving speed
Plane voltage equation carries out equivalent transformation, obtains the current differential equation comprising revolving speed；Model is constructed according to current differential equation
The adjustable model of reference adaptive method.
Specifically, as shown in figure 5, the adjustable model of building MRAS method.First construct ten two-phase permanent magnet synchronous motors certainly
Mathematical model under right coordinate system.By assuming the following conditions, simplified motor model:
(1) motor stator and rotor n phase winding is full symmetric in space；
(2) motor stator and rotor surface is smooth, the anodontia effect of grooves；
(3) motor gas-gap magnetic potential is distributed in spatial sinusoidal；
(4) vortex, saturation of iron core, magnetic hystersis loss are ignored.
It can obtain,
In formula, usIndicate each phase winding phase voltage, isIndicate each phase winding phase current, RsIndicate each phase winding resistance, Ψs
Indicate each phase winding magnetic linkage, LsIndicate inductance coefficent matrix, ΨfIndicate the magnetic linkage that permanent magnet flux linkage generates in every phase winding
Amplitude, λ indicate linkage coefficient matrix, TeIndicate the electromagnetic torque of motor, PnIndicate the number of pole-pairs of motor, θmRepresentation space rotor
Position angle, J indicate the rotary inertia of flywheel, ωmIndicate the mechanical angular speed of rotor, TLIndicate load torque, B indicates motor
Damped coefficient.
Then, VSD transformation is carried out to the mathematical model under ten two-phase electric machine naturals system of coordinates.It will be transformed by VSD
The flux linkage equations of ten two-phase electric machines are integrated with voltage equation, can be obtained:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the electricity of d-q, x1-y1, x2-y2, x3-y3 plane after converting
Pressure, Ld、LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate change
Change the electric current of rear d-q, x1-y1, x2-y2, x3-y3 plane；
D-q plane voltage equation relevant to revolving speed is subjected to equivalent transformation, obtains the current differential equation comprising revolving speed:
Construct the adjustable model of ten two-phase electric machines, it may be assumed that
In formula, adding the variable of " ^ " indicates estimated value,
In step S303, ten are obtained according to reference model, adjustable model and superstability and positivity dynamic systems theory
Speed estimate result of the two-phase permanent magnet synchronous motor in high revolving speed.
It is understood that as shown in figure 4, the embodiment of the present invention is determined according to superstability and positivity dynamic systems theory
Parameter adaptive rate finally estimates ten two-phase electric machine revolving speeds and rotor position angle.
Specifically, as shown in figure 5, according to reference model and adjustable model, and Popov hyperstability theory is combined, it obtains
To speed estimate value:
In formula, Kp, Ki respectively indicate proportionality coefficient and integral coefficient in PI operation.
Speed estimate value is integrated to obtain rotor position angle.So far, ten two-phase permanent magnet synchronous motors are realized and are based on MRAS
The high speed estimate of Speedless sensor algorithm.
The ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods proposed according to embodiments of the present invention, pass through difference
The reference model and adjustable model of model reference adaptive method are constructed, and true according to superstability and positivity dynamic systems theory
The speed estimate of motor is determined as a result, effectively improving and turning to height to realize the high speed estimate to ten two-phase permanent magnet synchronous motors
The reliability and accuracy of speed estimation are simple easily to realize.
The ten two-phase permanent magnet synchronous motor zero-velocity sensors proposed according to embodiments of the present invention are described referring next to attached drawing
Control device.
Fig. 6 is ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices of one embodiment of the invention.
As shown in fig. 6, the ten two-phase permanent magnets synchronous motor zero-velocity sensor control device 10 includes: reference model building
Module 100, adjustable model building module 200 and estimation module 300.
Wherein, the electric current for the ten two-phase permanent magnet synchronous motors that reference model building module 100 is used to acquire carries out VSD change
It gets d-q plane current in return, and constructs the reference model of model reference adaptive method according to d-q plane current.Adjustable model
Mathematical model of the ten two-phase permanent magnet synchronous motors that building module 200 is used to construct under preset coordinate system carries out VSD transformation
The d-q plane current differential equation is obtained, and the adjustable of model reference adaptive method is constructed according to the d-q plane current differential equation
Model.Estimation module 300 is used to obtain 12 according to reference model, adjustable model and superstability and positivity dynamic systems theory
Speed estimate result of the phase permanent magnet synchronous motor in high revolving speed.The device 10 of the embodiment of the present invention may be implemented to ten two-phases forever
The high speed estimate of magnetic-synchro motor effectively improves reliability and accuracy to high speed estimate, simple easily to realize.
Further, in one embodiment of the invention, the transformation matrix T of VSD transformationVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Wherein, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10,
K=1,5,7,11, i=1,2,3,4,
Further, in one embodiment of the invention, adjustable model building module is further used for constructing ten two-phases
Mathematical model of the permanent magnet synchronous motor under preset coordinate system, wherein preset coordinate system be natural system of coordinates, to mathematical model into
Row VSD converts to obtain the flux linkage equations and voltage equation of ten two-phase permanent magnet synchronous motors, and flux linkage equations and voltage equation are carried out
Integration, and d-q plane voltage equation relevant to revolving speed is subjected to equivalent transformation, the current differential equation comprising revolving speed is obtained,
The adjustable model of model reference adaptive method is constructed according to current differential equation.
Further, in one embodiment of the invention, wherein integrate by flux linkage equations and voltage equation
It arrives:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the electricity of d-q, x1-y1, x2-y2, x3-y3 plane after converting
Pressure, Ld、LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate change
Change the electric current of rear d-q, x1-y1, x2-y2, x3-y3 plane, RsIndicate each phase winding resistance, ωeIndicate the electrical angle speed of rotor
Degree, ΨfIndicate the amplitude for the magnetic linkage that permanent magnet flux linkage generates in every phase winding；
Current differential equation are as follows:
Adjustable model are as follows:
In formula, adding the variable of " ^ " indicates estimated value,
Further, in one embodiment of the invention, further includes: integration module, for speed estimate result product
Get rotor position angle, wherein speed estimate result are as follows:
In formula, Kp, Ki respectively indicate proportionality coefficient and integral coefficient in PI operation.
It should be noted that the aforementioned explanation to ten two-phase permanent magnet synchronous motor zero-velocity sensor control method embodiments
Illustrate the ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices for being also applied for the embodiment, details are not described herein again.
The ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices proposed according to embodiments of the present invention, pass through difference
The reference model and adjustable model of model reference adaptive method are constructed, and true according to superstability and positivity dynamic systems theory
The speed estimate of motor is determined as a result, effectively improving and turning to height to realize the high speed estimate to ten two-phase permanent magnet synchronous motors
The reliability and accuracy of speed estimation are simple easily to realize.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensor control methods, which comprises the following steps:
The electric current of ten two-phase permanent magnet synchronous motors of acquisition is subjected to space vector decoupling change and gets d-q plane current, and root in return
According to the reference model of d-q plane current building model reference adaptive method；
Mathematical model of the ten two-phase permanent magnets synchronous motor of building under preset coordinate system is subjected to space vector decoupling change
It gets the d-q plane current differential equation in return, and model reference adaptive method is constructed according to the d-q plane current differential equation
Adjustable model；And
Ten two-phase is obtained forever according to the reference model, the adjustable model and superstability and positivity dynamic systems theory
Speed estimate result of the magnetic-synchro motor in high revolving speed.
2. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 1, which is characterized in that institute
State the transformation matrix T of space vector decoupling transformationVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Wherein, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10,
K=1,5,7,11, i=1,2,3,4,
3. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 1, which is characterized in that institute
It states the mathematical model by the ten two-phase permanent magnets synchronous motor of building under preset coordinate system and carries out space vector decoupling transformation
The d-q plane current differential equation is obtained, and model reference adaptive method is constructed according to the d-q plane current differential equation
Adjustable model further comprises:
Construct mathematical model of the ten two-phase permanent magnets synchronous motor under preset coordinate system, wherein the preset coordinate system is
Natural system of coordinates；
To the mathematical model carry out space vector decoupling change get in return the flux linkage equations of the ten two-phase permanent magnets synchronous motor with
Voltage equation；
The flux linkage equations are integrated with voltage equation, and will relevant to revolving speed d-q plane voltage equation carry out it is equivalent
Transformation, obtains the current differential equation comprising revolving speed；
The adjustable model of model reference adaptive method is constructed according to the current differential equation.
4. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 3, which is characterized in that its
In,
It is described to be integrated to obtain with voltage equation by the flux linkage equations:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the voltage of d-q, x1-y1, x2-y2, x3-y3 plane after converting, Ld、
LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate d- after converting
Q, the electric current of x1-y1, x2-y2, x3-y3 plane, RsIndicate each phase winding resistance, ωeIndicate the electrical angular speed of rotor, ΨfTable
Show the amplitude for the magnetic linkage that permanent magnet flux linkage generates in every phase winding；
The current differential equation are as follows:
The adjustable model are as follows:
In formula, adding the variable of " ^ " indicates estimated value,
5. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 1, which is characterized in that also
Include:
The speed estimate result is integrated to obtain rotor position angle, wherein the speed estimate result are as follows:
In formula, Kp、KiRespectively indicate proportionality coefficient and integral coefficient in PI operation.
6. a kind of ten two-phase permanent magnet synchronous motor zero-velocity sensor control devices characterized by comprising
Reference model constructs module, and the electric current of the ten two-phase permanent magnet synchronous motors for that will acquire carries out space vector decoupling transformation
D-q plane current is obtained, and constructs the reference model of model reference adaptive method according to the d-q plane current；
Adjustable model constructs module, mathematical modulo of the ten two-phase permanent magnets synchronous motor under preset coordinate system for that will construct
Type carries out space vector decoupling change and gets the d-q plane current differential equation in return, and according to the d-q plane current differential equation structure
The adjustable model of established model reference adaptive method；And
Estimation module, for being obtained according to the reference model, the adjustable model and superstability and positivity dynamic systems theory
To speed estimate result of the ten two-phase permanent magnets synchronous motor in high revolving speed.
7. ten two-phase permanent magnets synchronous motor zero-velocity sensor control device according to claim 6, which is characterized in that institute
State the transformation matrix T of space vector decoupling transformationVSDAre as follows:
TVSD=Tdq·Tαβ,
Wherein,
Wherein, θ indicates motor rotor position electrical angle, I10The unit square matrix that representation dimension is 10,
K=1,5,7,11, i=1,2,3,4,
8. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 6, which is characterized in that institute
Adjustable model building module is stated to be further used for constructing mathematical modulo of the ten two-phase permanent magnets synchronous motor under preset coordinate system
Type, wherein the preset coordinate system is natural system of coordinates, is got in return to mathematical model progress space vector decoupling change described
The flux linkage equations and voltage equation of ten two-phase permanent magnet synchronous motors integrate the flux linkage equations with voltage equation, and will
D-q plane voltage equation relevant to revolving speed carries out equivalent transformation, the current differential equation comprising revolving speed is obtained, according to the electricity
Flow the adjustable model of differential equation building model reference adaptive method.
9. ten two-phase permanent magnets synchronous motor zero-velocity sensor control device according to claim 8, which is characterized in that its
In,
It is described to be integrated to obtain with voltage equation by the flux linkage equations:
G=1 in formula, 2,3, ud、uq、uxg、uygRespectively indicate the voltage of d-q, x1-y1, x2-y2, x3-y3 plane after converting, Ld、
LqRespectively indicate the inductance of transformed d-q plane, LkIndicate transformed leakage inductance, id、iq、ixg、iygRespectively indicate d- after converting
Q, the electric current of x1-y1, x2-y2, x3-y3 plane, RsIndicate each phase winding resistance, ωeIndicate the electrical angular speed of rotor, ΨfTable
Show the amplitude for the magnetic linkage that permanent magnet flux linkage generates in every phase winding；
The current differential equation are as follows:
The adjustable model are as follows:
In formula, adding the variable of " ^ " indicates estimated value,
10. ten two-phase permanent magnets synchronous motor zero-velocity sensor control method according to claim 1, which is characterized in that
Further include:
Integration module, for integrating to obtain rotor position angle to the speed estimate result, wherein the speed estimate result
Are as follows:
In formula, Kp、KiRespectively indicate proportionality coefficient and integral coefficient in PI operation.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110797891A (en) * | 2019-11-04 | 2020-02-14 | 长安大学 | Flywheel energy storage system of double three-phase brushless direct current motor and control method thereof |
| CN111641365A (en) * | 2020-05-28 | 2020-09-08 | 清华大学 | Double-winding three-phase motor control method and double-control four-drive controller |
| CN112910345A (en) * | 2019-12-03 | 2021-06-04 | Abb瑞士股份有限公司 | Method for controlling a polyphase machine |
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| US20060145650A1 (en) * | 2004-09-09 | 2006-07-06 | Abb Oy | Speed sensorless control of an induction machine using a pwm inverter with output lc filter |
| CN106059424A (en) * | 2016-08-04 | 2016-10-26 | 上海应用技术学院 | Improved Kalman observer based control method free of speed sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060145650A1 (en) * | 2004-09-09 | 2006-07-06 | Abb Oy | Speed sensorless control of an induction machine using a pwm inverter with output lc filter |
| CN106059424A (en) * | 2016-08-04 | 2016-10-26 | 上海应用技术学院 | Improved Kalman observer based control method free of speed sensor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110797891A (en) * | 2019-11-04 | 2020-02-14 | 长安大学 | Flywheel energy storage system of double three-phase brushless direct current motor and control method thereof |
| CN112910345A (en) * | 2019-12-03 | 2021-06-04 | Abb瑞士股份有限公司 | Method for controlling a polyphase machine |
| CN111641365A (en) * | 2020-05-28 | 2020-09-08 | 清华大学 | Double-winding three-phase motor control method and double-control four-drive controller |
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